Lie Algebra and the Mobility of Kinematic Chains
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Publication:4452434
DOI10.1002/rob.10099zbMath1047.70019OpenAlexW2036784669WikidataQ115396842 ScholiaQ115396842MaRDI QIDQ4452434
Bahram Ravani, José M. Rico, Jaime Gallardo
Publication date: 12 February 2004
Published in: Journal of Robotic Systems (Search for Journal in Brave)
Full work available at URL: https://doi.org/10.1002/rob.10099
Kinematics of mechanisms and robots (70B15) Lie algebras of Lie groups (22E60) Symmetries, Lie group and Lie algebra methods for problems in mechanics (70G65)
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A conservative elimination procedure for permanently redundant closure constraints in mBS-models with relative coordinates ⋮ A new formula of mechanism mobility based on virtual constraint loop ⋮ Mechanism mobility and a local dimension test ⋮ A simple method to calculate mobility with Jacobian ⋮ Mobility analysis of overconstrained parallel mechanism using Grassmann-Cayley algebra ⋮ Mobility and spatiality of parallel robots revisited via theory of linear transformations ⋮ A general methodology for mobility analysis of mechanisms based on constraint screw theory
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